<?xml version="1.0" ?>
<Manifest 
    xmlns="http://schemas.microsoft.com/xw/2004/10/manifest.html"
    xmlns:dssp="http://schemas.microsoft.com/xw/2004/10/dssp.html"
    >
    <CreateServiceList>
    
      <!--
        The GridSlam service will listen for DifferentialDrives and Distance Sensors ( LRF, Sonar, Bumper )
      -->
        <ServiceRecordType>
            <dssp:Contract>http://www.diversity.co.uk/2007/05/gridslam.html</dssp:Contract>
        </ServiceRecordType>
      
      <!--  
            This uses the Trevor Taylor / Ben Axelrod  Maze Simulator
            It uses a modified drive that updates the state of the wheels 
            to store wheel pose.  
      -->
      <ServiceRecordType>
        <dssp:Contract>http://schemas.tempuri.org/2006/08/mazesimulator.html</dssp:Contract>
      </ServiceRecordType>

      <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/robotics/2006/10/dashboard.html</dssp:Contract>
      </ServiceRecordType>

         <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/robotics/2007/06/explorersim.html</dssp:Contract>
      </ServiceRecordType>
    </CreateServiceList>
</Manifest>